Revision 16:db7ef0a4aa23, committed 2019-03-06

Comitter:

adehadd

Date:

Wed Mar 06 10:43:22 2019 +0000

Parent:

15:2f95f2fb68e3

Child:

17:5a443275680a

Child:

18:7ee632098fd4

Commit message:

Fixed global issue for callback

Changed in this revision

--- a/main.cpp	Tue Mar 05 15:48:43 2019 +0000
+++ b/main.cpp	Wed Mar 06 10:43:22 2019 +0000
@@ -48,11 +48,6 @@
 //Phase lead to make motor spin
 const int8_t lead = 2;  //2 for forwards, -2 for backwards
 
-// Global States
-// TODO: Can we not use globals?
-int8_t orState = 0;    //Rotot offset at motor state 0
-int8_t currentState = 0;    //Rotot offset at motor state 0 
-
 //Status LED
 DigitalOut led1(LED1);
 
@@ -107,10 +102,12 @@
     return readRotorState();
 }
 
-void stateUpdate(/*int8_t *currentState, int8_t offset, int8_t lead*/) {
-    // TODO: Global fix
+
+void stateUpdate(int8_t *params[]) { // () { // **params
+    int8_t currentState = *params[0];
+    int8_t offset = *params[1];
     currentState = readRotorState(); 
-    motorOut((currentState - orState + lead + 6) % 6);
+    motorOut((currentState - offset + lead + 6) % 6);
 }
 
 //Main
@@ -137,13 +134,23 @@
     uint32_t hashCounter = 0;
     Timer timer;   
     
+    // Motor States
+    int8_t orState = 0;    //Rotot offset at motor state 0
+    int8_t currentState = 0;    //Rotot offset at motor state 0
     //Run the motor synchronisation
     orState = motorHome();
     
     // Add callbacks
-    I1.fall(&stateUpdate);
-    I2.fall(&stateUpdate);
-    I3.fall(&stateUpdate);
+//    I1.fall(&stateUpdate);
+//    I2.fall(&stateUpdate);
+//    I3.fall(&stateUpdate);
+    int8_t* params[2];
+    params[0] = &currentState;
+    params[1] = &orState;
+    
+    I1.fall(callback(&stateUpdate,params));
+    I2.fall(callback(&stateUpdate,params));
+    I3.fall(callback(&stateUpdate,params));
     
     // Push motor to move
     currentState = readRotorState();
@@ -172,6 +179,7 @@
             pc.printf("\n\r");
         }
 
+        // Try a new nonce
         (*nonce)++;
 
         // Per Second i.e. when greater or equal to 1